WARN[0000] Found orphan containers ([config-zenoh-server-ros2dds-1 config-zenoh-client-ros2dds-1 config-zenoh-bridge-1 config-zenoh-bridge-ros2dds-1 config-listener1-1 config-talker-1 config-listener2-1 config-zenoh-bridge-dds-1-1 config-zenoh-bridge-dds-2-1]) for this project. If you removed or renamed this service in your compose file, you can run this command with the --remove-orphans flag to clean it up. [+] Running 1/0 ✔ Container config-zenoh-peer-ros2dds-1 Created 0.0s Attaching to config-zenoh-peer-ros2dds-1 config-zenoh-peer-ros2dds-1 | * Starting: /zenoh-bridge-ros2dds -d 23 -m peer -l tcp/0.0.0.0:7447 -c /config/minimal.json5 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_bridge_ros2dds] zenoh-bridge-ros2dds v0.10.1-rc.2 built with rustc 1.72.0 (5680fa18f 2023-08-23) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime] Zenoh Rust API v0.10.1-rc config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime] Using PID: aea0963f8027abe0003e70d15d2ff5e7 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::network] [Routers network] Add node (self) aea0963f8027abe0003e70d15d2ff5e7 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::network] [Peers network] Add node (self) aea0963f8027abe0003e70d15d2ff5e7 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime::orchestrator] Listener added: tcp/0.0.0.0:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/192.168.0.70:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.19.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.20.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.21.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.22.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.23.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.24.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.25.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] Zenoh can be reached at: tcp/172.26.0.1:7447 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime::orchestrator] UDP port bound to 224.0.0.224:7446 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime::orchestrator] Joined multicast group 224.0.0.224 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh::net::runtime::orchestrator] zenohd listening scout messages on 224.0.0.224:7446 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime::orchestrator] UDP port bound to 192.168.0.70:58216 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::runtime::orchestrator] Waiting for UDP datagram... config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] ROS2 plugin v0.10.1-rc.2 built with rustc 1.72.0 (5680fa18f 2023-08-23) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds] ROS2 plugin Config { id: None, namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 23, ros_localhost_only: false, allowance: Some(Allow(ROS2InterfacesRegex { publishers: Some(Regex("^/chatter$")), subscribers: Some(Regex("^/chatter$")), service_servers: None, service_clients: None, action_servers: None, action_clients: None })), pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: None, reliable_routes_blocking: true, __required__: None, __path__: None } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::router] New Face{0, aea0963f8027abe0003e70d15d2ff5e7} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7 for Face{0, aea0963f8027abe0003e70d15d2ff5e7} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Create DDS Participant on domain 23 with CYCLONEDDS_URI='file:///config/cyclonedds.xml' config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] ROS2 plugin aea0963f8027abe0003e70d15d2ff5e7 using DDS Participant 0110409f10233a155cfb3ef2000001c1 created config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_ext::querying_subscriber] Fetch data for FetchingSubscriber config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::queries] Route query Face{0, aea0963f8027abe0003e70d15d2ff5e7}:0 for res @/liveliness/@ros2_lv/*/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/*/**, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::queries] Send final reply Face{0, aea0963f8027abe0003e70d15d2ff5e7}:0 (no matching queryables or not master) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_ext::querying_subscriber] All fetches done. Replies and live publications merged - 1 samples to propagate config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Declare admin space on @ros2/aea0963f8027abe0003e70d15d2ff5e7/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::queries] Register client queryable @ros2/aea0963f8027abe0003e70d15d2ff5e7/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::resource] Register resource @ros2/aea0963f8027abe0003e70d15d2ff5e7/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::queries] Register queryable @ros2/aea0963f8027abe0003e70d15d2ff5e7/** (face: Face{0, aea0963f8027abe0003e70d15d2ff5e7}) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/aea0963f8027abe0003e70d15d2ff5e7/**, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/aea0963f8027abe0003e70d15d2ff5e7/**, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS Participant 011043b9f235ce065fa950b1000001c1) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS Participant 01103b99eade94974887aa50000001c1) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000403 from Participant 011043b9f235ce065fa950b1000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000603 from Participant 011043b9f235ce065fa950b1000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::Log_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000703 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/get_parametersReply with type rcl_interfaces::srv::dds_::GetParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000903 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/get_parameter_typesReply with type rcl_interfaces::srv::dds_::GetParameterTypes_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameterTypes_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000b03 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/set_parametersReply with type rcl_interfaces::srv::dds_::SetParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000d03 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/set_parameters_atomicallyReply with type rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100000f03 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/describe_parametersReply with type rcl_interfaces::srv::dds_::DescribeParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::DescribeParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000403 from Participant 01103b99eade94974887aa50000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000603 from Participant 01103b99eade94974887aa50000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::Log_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000703 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/get_parametersReply with type rcl_interfaces::srv::dds_::GetParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000903 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/get_parameter_typesReply with type rcl_interfaces::srv::dds_::GetParameterTypes_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameterTypes_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100001103 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/list_parametersReply with type rcl_interfaces::srv::dds_::ListParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::ListParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100001303 from Participant 011043b9f235ce065fa950b1000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::ParameterEvent_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa950b100001503 from Participant 011043b9f235ce065fa950b1000001c1 on rr/talker/get_type_descriptionReply with type type_description_interfaces::srv::dds_::GetTypeDescription_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type type_description_interfaces::srv::dds_::GetTypeDescription_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 011043b9f235ce065fa9 config-zenoh-peer-ros2dds-1 | 50b100001703 from Participant 011043b9f235ce065fa950b1000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type std_msgs::msg::dds_::String_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100000504 from Participant 011043b9f235ce065fa950b1000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100000804 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/get_parametersRequest with type rcl_interfaces::srv::dds_::GetParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100000a04 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/get_parameter_typesRequest with type rcl_interfaces::srv::dds_::GetParameterTypes_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameterTypes_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100000c04 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/set_parametersRequest with type rcl_interfaces::srv::dds_::SetParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000b03 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/set_parametersReply with type rcl_interfaces::srv::dds_::SetParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000d03 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/set_parameters_atomicallyReply with type rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000000f03 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/describe_parametersReply with type rcl_interfaces::srv::dds_::DescribeParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::DescribeParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100000e04 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/set_parameters_atomicallyRequest with type rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100001004 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/describe_parametersRequest with type rcl_interfaces::srv::dds_::DescribeParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::DescribeParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100001204 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/list_parametersRequest with type rcl_interfaces::srv::dds_::ListParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::ListParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100001404 from Participant 011043b9f235ce065fa950b1000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::ParameterEvent_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000001103 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/list_parametersReply with type rcl_interfaces::srv::dds_::ListParameters_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::ListParameters_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000001303 from Participant 01103b99eade94974887aa50000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::ParameterEvent_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS publication 01103b99eade94974887aa5000001503 from Participant 01103b99eade94974887aa50000001c1 on rr/listener/get_type_descriptionReply with type type_description_interfaces::srv::dds_::GetTypeDescription_Response_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type type_description_interfaces::srv::dds_::GetTypeDescription_Response_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000000504 from Participant 01103b99eade94974887aa50000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 011043b9f235ce065fa950b100001604 from Participant 011043b9f235ce065fa950b1000001c1 on rq/talker/get_type_descriptionRequest with type type_description_interfaces::srv::dds_::GetTypeDescription_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type type_description_interfaces::srv::dds_::GetTypeDescription_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000000804 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/get_parametersRequest with type rcl_interfaces::srv::dds_::GetParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000000a04 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/get_parameter_typesRequest with type rcl_interfaces::srv::dds_::GetParameterTypes_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::GetParameterTypes_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000000c04 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/set_parametersRequest with type rcl_interfaces::srv::dds_::SetParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000000e04 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/set_parameters_atomicallyRequest with type rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000001004 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/describe_parametersRequest with type rcl_interfaces::srv::dds_::DescribeParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::DescribeParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000001204 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/list_parametersRequest with type rcl_interfaces::srv::dds_::ListParameters_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::srv::dds_::ListParameters_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000001404 from Participant 01103b99eade94974887aa50000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type rcl_interfaces::msg::dds_::ParameterEvent_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000001604 from Participant 01103b99eade94974887aa50000001c1 on rq/listener/get_type_descriptionRequest with type type_description_interfaces::srv::dds_::GetTypeDescription_Request_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type type_description_interfaces::srv::dds_::GetTypeDescription_Request_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::dds_discovery] Discovered DDS subscription 01103b99eade94974887aa5000001704 from Participant 01103b99eade94974887aa50000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::dds_discovery] Type information not available for type std_msgs::msg::dds_::String_ config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 0 writers and 0 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 0 pubs: config-zenoh-peer-ros2dds-1 | 0 subs: config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::ros2_utils] ROS_DISTRO detected: iron config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::ros_discovery] Deserialize ParticipantEntitiesInfo: [00, 01, 00, 00, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 01, c1, 01, 00, 00, 00, 02, 00, 00, 00, 2f, 00, 00, 00, 09, 00, 00, 00, 6c, 69, 73, 74, 65, 6e, 65, 72, 00, 00, 00, 00, 09, 00, 00, 00, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 08, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0a, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0c, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0e, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 10, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 12, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 14, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 16, 04, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 17, 04, 09, 00, 00, 00, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 06, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 07, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 09, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0b, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0d, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 0f, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 11, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 13, 03, 01, 10, 3b, 99, ea, de, 94, 97, 48, 87, aa, 50, 00, 00, 15, 03] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::ros_discovery] Deserialize ParticipantEntitiesInfo: [00, 01, 00, 00, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 01, c1, 01, 00, 00, 00, 02, 00, 00, 00, 2f, 00, 00, 00, 07, 00, 00, 00, 74, 61, 6c, 6b, 65, 72, 00, 00, 08, 00, 00, 00, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 08, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0a, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0c, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0e, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 10, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 12, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 14, 04, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 16, 04, 0a, 00, 00, 00, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 06, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 07, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 09, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0b, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0d, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 0f, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 11, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 13, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 15, 03, 01, 10, 43, b9, f2, 35, ce, 06, 5f, a9, 50, b1, 00, 00, 17, 03] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovery_mgr] Received ros_discovery_info from participant 01103b99eade94974887aa50000001c1 with nodes: [/listener] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds::discovered_entities] Discovered ROS Node /listener config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rt/chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Reader on rt/chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/set_parameters_atomicallyRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/set_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Reader on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/get_type_descriptionRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/get_parameter_typesRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/describe_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/list_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a Reader on rq/listener/get_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/get_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/get_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/get_type_descriptionReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/get_type_descriptionReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/set_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/set_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rt/rosout config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rt/rosout config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/describe_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/describe_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/set_parameters_atomicallyReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/set_parameters_atomicallyReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/get_parameter_typesReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/get_parameter_typesReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares Writer on rr/listener/list_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /listener declares a new Writer on rr/listener/list_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovery_mgr] Received ros_discovery_info from participant 011043b9f235ce065fa950b1000001c1 with nodes: [/talker] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds::discovered_entities] Discovered ROS Node /talker config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/list_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/get_type_descriptionRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/set_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Reader on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/describe_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/get_parameter_typesRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/set_parameters_atomicallyRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a Reader on rq/talker/get_parametersRequest config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/get_parameter_typesReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/get_parameter_typesReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/get_type_descriptionReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/get_type_descriptionReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rt/rosout config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rt/rosout config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/get_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/get_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/set_parameters_atomicallyReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/set_parameters_atomicallyReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rt/parameter_events config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/set_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/set_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rt/chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rt/chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/list_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/list_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares Writer on rr/talker/describe_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::discovered_entities] ROS Node /talker declares a new Writer on rr/talker/describe_parametersReply config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds] Node /listener declares Subscriber /chatter: std_msgs/msg/String - Allowed config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_subscriber] Route Subscriber (chatter -> /chatter): creation with type std_msgs/msg/String (transient_local:false) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_subscriber] Route Subscriber (chatter -> /chatter): create Writer with Qos { user_data: Some([116, 121, 112, 101, 104, 97, 115, 104, 61, 82, 73, 72, 83, 48, 49, 95, 100, 102, 54, 54, 56, 99, 55, 52, 48, 52, 56, 50, 98, 98, 100, 52, 56, 102, 98, 51, 57, 100, 55, 54, 97, 55, 48, 100, 102, 100, 52, 98, 100, 53, 57, 100, 98, 49, 50, 56, 56, 48, 50, 49, 55, 52, 51, 53, 48, 51, 50, 53, 57, 101, 57, 52, 56, 102, 54, 98, 49, 97, 49, 56, 59]), topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 10 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: Some(TypeConsistency { kind: ALLOW_TYPE_COERCION, ignore_sequence_bounds: true, ignore_string_bounds: true, ignore_member_names: false, prevent_type_widening: false, force_type_validation: false }), entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds::routes_mgr] Route Subscriber (Zenoh:chatter -> ROS:/chatter) created config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_subscriber] Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving local nodes {"/listener"} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_subscriber] Route Subscriber (Zenoh:chatter -> ROS:/chatter) activate config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::resource] Register resource chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register subscription chatter for Face{0, aea0963f8027abe0003e70d15d2ff5e7} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{0, aea0963f8027abe0003e70d15d2ff5e7} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/get_parameters: rcl_interfaces/srv/GetParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/get_type_description: type_description_interfaces/srv/GetTypeDescription - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/set_parameters: rcl_interfaces/srv/SetParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Publisher /rosout: rcl_interfaces/msg/Log - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/describe_parameters: rcl_interfaces/srv/DescribeParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /listener declares Service Server /listener/list_parameters: rcl_interfaces/srv/ListParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/get_type_description: type_description_interfaces/srv/GetTypeDescription - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Publisher /rosout: rcl_interfaces/msg/Log - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/get_parameters: rcl_interfaces/srv/GetParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/set_parameters: rcl_interfaces/srv/SetParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds] Node /talker declares Publisher /chatter: std_msgs/msg/String - Allowed config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (/chatter -> chatter): creation with type std_msgs/msg/String config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::queries] compute_query_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::queries] compute_query_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z INFO zenoh_plugin_ros2dds::routes_mgr] Route Publisher (ROS:/chatter -> Zenoh:chatter) created config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving local nodes {"/talker"} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MP/chatter/std_msgs§msg§String/:1::0,7 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MP/chatter/std_msgs§msg§String/:1::0,7 for Face{0, aea0963f8027abe0003e70d15d2ff5e7} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MP/chatter/std_msgs§msg§String/:1::0,7, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/aea0963f8027abe0003e70d15d2ff5e7/MP/chatter/std_msgs§msg§String/:1::0,7, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/list_parameters: rcl_interfaces/srv/ListParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds] Node /talker declares Service Server /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters - Denied per config config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 1 writers and 0 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:21Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 1 pubs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000603 config-zenoh-peer-ros2dds-1 | 0 subs: config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:22Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:22Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:24Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:24Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:28Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:28Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:36Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:36Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh_link_tcp::unicast] Accepted TCP connection on 0.0.0.0:7447: 192.168.0.101:45308 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh_transport::unicast::manager] Will use Universal transport! config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::network] [Peers network] Add node (link) e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::network] [Peers network] Send to Ok(e40895b9c1f101b34979e822719eb0b2) NetworkMessage { body: OAM(Oam { id: 1, body: ZBuf(ZBuf { slices: [[02, 07, 00, 02, 10, e7, f5, 2f, 5d, d1, 70, 3e, 00, e0, ab, 27, 80, 3f, 96, a0, ae, 02, 09, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 37, 30, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 39, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 30, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 31, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 32, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 33, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 34, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 35, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 36, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 00, 03, 01, 00, 10, b2, b0, 9e, 71, 22, e8, 79, 49, b3, 01, f1, c1, b9, 95, 08, e4, 02, 00]] }), ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::router] New Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh_transport::unicast::manager] New transport opened between aea0963f8027abe0003e70d15d2ff5e7 and e40895b9c1f101b34979e822719eb0b2 - whatami: peer, sn resolution: U32, initial sn: 171924365, qos: true, multilink: false, lowlatency: false config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh_transport::unicast::establishment::accept] New transport link accepted from e40895b9c1f101b34979e822719eb0b2 to aea0963f8027abe0003e70d15d2ff5e7: TransportLinkUnicast { link: Link { src: tcp/0.0.0.0:7447, dst: tcp/192.168.0.101:45308, mtu: 65535, is_reliable: true, is_streamed: true }, config: TransportLinkUnicastConfig { direction: Inbound, batch: BatchConfig { mtu: 65535, is_streamed: true, is_compression: false } } }. config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: OAM(Oam { id: 1, body: ZBuf(ZBuf { slices: [[02, 07, 00, 02, 10, b2, b0, 9e, 71, 22, e8, 79, 49, b3, 01, f1, c1, b9, 95, 08, e4, 02, 07, 16, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 31, 30, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 37, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 38, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 14, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 35, 3a, 37, 34, 34, 37, 14, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 39, 3a, 37, 34, 34, 37, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 31, 33, 3a, 37, 34, 34, 37, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 31, 37, 3a, 37, 34, 34, 37, 00, 03, 01, 00, 10, e7, f5, 2f, 5d, d1, 70, 3e, 00, e0, ab, 27, 80, 3f, 96, a0, ae, 02, 00]] }), ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::network] [Peers network] Received from e40895b9c1f101b34979e822719eb0b2 raw: [LinkState { psid: 0, sn: 2, zid: Some(e40895b9c1f101b34979e822719eb0b2), whatami: Some(Peer), locators: Some([tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447]), links: [] }, LinkState { psid: 1, sn: 0, zid: Some(aea0963f8027abe0003e70d15d2ff5e7), whatami: Some(Peer), locators: None, links: [] }] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::network] [Peers network] Received from e40895b9c1f101b34979e822719eb0b2 mapped: (e40895b9c1f101b34979e822719eb0b2, Peer, Some([tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447]), 2, []) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::network] [Peers network] Received from e40895b9c1f101b34979e822719eb0b2 mapped: (aea0963f8027abe0003e70d15d2ff5e7, Peer, None, 0, []) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 6, wire_expr: @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 6:Sender:, ext_info: SubscriberInfo { reliability: BestEffort, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2 for Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z INFO zenoh_plugin_ros2dds] New ROS 2 bridge detected: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 7, wire_expr: @ros2/e40895b9c1f101b34979e822719eb0b2 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::resource] Register resource @ros2/e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::pubsub] compute_data_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareQueryable(DeclareQueryable { id: 0, wire_expr: 7:Sender:/**, ext_info: QueryableInfo { complete: 0, distance: 0 } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::queries] Register client queryable @ros2/e40895b9c1f101b34979e822719eb0b2/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::resource] Register resource @ros2/e40895b9c1f101b34979e822719eb0b2/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z DEBUG zenoh::net::routing::queries] Register queryable @ros2/e40895b9c1f101b34979e822719eb0b2/** (face: Face{1, e40895b9c1f101b34979e822719eb0b2}) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2/**, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2/**, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:39Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/e40895b9c1f101b34979e822719eb0b2, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:40Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:40Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:42Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:42Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:44Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:44Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:44Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:44Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:46Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:46Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh_link_tcp::unicast] Accepted TCP connection on 0.0.0.0:7447: 192.168.0.105:38844 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh_transport::unicast::manager] Will use Universal transport! config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::network] [Peers network] Add node (link) eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::network] [Peers network] Send to Ok(eeca004478414ebbcb14c8c0ecb28e77) NetworkMessage { body: OAM(Oam { id: 1, body: ZBuf(ZBuf { slices: [[03, 07, 00, 03, 10, e7, f5, 2f, 5d, d1, 70, 3e, 00, e0, ab, 27, 80, 3f, 96, a0, ae, 02, 09, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 37, 30, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 39, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 30, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 31, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 32, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 33, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 34, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 35, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 32, 36, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 00, 07, 01, 02, 10, b2, b0, 9e, 71, 22, e8, 79, 49, b3, 01, f1, c1, b9, 95, 08, e4, 02, 07, 16, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 31, 30, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 37, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 38, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 14, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 35, 3a, 37, 34, 34, 37, 14, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 39, 3a, 37, 34, 34, 37, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 31, 33, 3a, 37, 34, 34, 37, 15, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 32, 2e, 31, 37, 3a, 37, 34, 34, 37, 00, 03, 02, 00, 10, 77, 8e, b2, ec, c0, c8, 14, cb, bb, 4e, 41, 78, 44, 00, ca, ee, 02, 00]] }), ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::router] New Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh_transport::unicast::manager] New transport opened between aea0963f8027abe0003e70d15d2ff5e7 and eeca004478414ebbcb14c8c0ecb28e77 - whatami: peer, sn resolution: U32, initial sn: 110437644, qos: true, multilink: false, lowlatency: false config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh_transport::unicast::establishment::accept] New transport link accepted from eeca004478414ebbcb14c8c0ecb28e77 to aea0963f8027abe0003e70d15d2ff5e7: TransportLinkUnicast { link: Link { src: tcp/0.0.0.0:7447, dst: tcp/192.168.0.105:38844, mtu: 65535, is_reliable: true, is_streamed: true }, config: TransportLinkUnicastConfig { direction: Inbound, batch: BatchConfig { mtu: 65535, is_streamed: true, is_compression: false } } }. config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: OAM(Oam { id: 1, body: ZBuf(ZBuf { slices: [[02, 07, 00, 02, 10, 77, 8e, b2, ec, c0, c8, 14, cb, bb, 4e, 41, 78, 44, 00, ca, ee, 02, 03, 16, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 31, 30, 35, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 38, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 37, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 00, 03, 01, 00, 10, e7, f5, 2f, 5d, d1, 70, 3e, 00, e0, ab, 27, 80, 3f, 96, a0, ae, 02, 00]] }), ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::network] [Peers network] Received from eeca004478414ebbcb14c8c0ecb28e77 raw: [LinkState { psid: 0, sn: 2, zid: Some(eeca004478414ebbcb14c8c0ecb28e77), whatami: Some(Peer), locators: Some([tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447]), links: [] }, LinkState { psid: 1, sn: 0, zid: Some(aea0963f8027abe0003e70d15d2ff5e7), whatami: Some(Peer), locators: None, links: [] }] config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::network] [Peers network] Received from eeca004478414ebbcb14c8c0ecb28e77 mapped: (eeca004478414ebbcb14c8c0ecb28e77, Peer, Some([tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447]), 2, []) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::network] [Peers network] Received from eeca004478414ebbcb14c8c0ecb28e77 mapped: (aea0963f8027abe0003e70d15d2ff5e7, Peer, None, 0, []) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::network] [Peers network] Send to e40895b9c1f101b34979e822719eb0b2 NetworkMessage { body: OAM(Oam { id: 1, body: ZBuf(ZBuf { slices: [[01, 07, 02, 02, 10, 77, 8e, b2, ec, c0, c8, 14, cb, bb, 4e, 41, 78, 44, 00, ca, ee, 02, 03, 16, 74, 63, 70, 2f, 31, 39, 32, 2e, 31, 36, 38, 2e, 30, 2e, 31, 30, 35, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 38, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 13, 74, 63, 70, 2f, 31, 37, 32, 2e, 31, 37, 2e, 30, 2e, 31, 3a, 37, 34, 34, 37, 00]] }), ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 6, wire_expr: @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 6:Sender:, ext_info: SubscriberInfo { reliability: BestEffort, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77 for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z INFO zenoh_plugin_ros2dds] New ROS 2 bridge detected: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 7, wire_expr: @ros2/eeca004478414ebbcb14c8c0ecb28e77 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::resource] Register resource @ros2/eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::pubsub] compute_data_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareQueryable(DeclareQueryable { id: 0, wire_expr: 7:Sender:/**, ext_info: QueryableInfo { complete: 0, distance: 0 } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::queries] Register client queryable @ros2/eeca004478414ebbcb14c8c0ecb28e77/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::resource] Register resource @ros2/eeca004478414ebbcb14c8c0ecb28e77/** config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z DEBUG zenoh::net::routing::queries] Register queryable @ros2/eeca004478414ebbcb14c8c0ecb28e77/** (face: Face{2, eeca004478414ebbcb14c8c0ecb28e77}) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77/**, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77/**, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:48Z TRACE zenoh::net::routing::queries] compute_query_route(@ros2/eeca004478414ebbcb14c8c0ecb28e77, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:49Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:49Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:51Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:51Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:52Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:54Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:54Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:55Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:25:55Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:00Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:02Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:02Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:03Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:03Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:08Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:10Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:10Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:11Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:11Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:16Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:18Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:18Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:19Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:19Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:24Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:26Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:26Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:27Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:27Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:32Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:34Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:34Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:35Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:35Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 3:Receiver:, ext_info: SubscriberInfo { reliability: Reliable, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh::net::routing::pubsub] Register subscription chatter for Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) MatchingStatus changed: MatchingStatus { matching: true } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): create Reader with Qos { user_data: Some([116, 121, 112, 101, 104, 97, 115, 104, 61, 82, 73, 72, 83, 48, 49, 95, 100, 102, 54, 54, 56, 99, 55, 52, 48, 52, 56, 50, 98, 98, 100, 52, 56, 102, 98, 51, 57, 100, 55, 54, 97, 55, 48, 100, 102, 100, 52, 98, 100, 53, 57, 100, 98, 49, 50, 56, 56, 48, 50, 49, 55, 52, 51, 53, 48, 51, 50, 53, 57, 101, 57, 52, 56, 102, 54, 98, 49, 97, 49, 56, 59]), topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 7 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 8, wire_expr: @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 8:Sender:, ext_info: SubscriberInfo { reliability: BestEffort, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: PUT on @ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z INFO zenoh_plugin_ros2dds] Remote bridge e40895b9c1f101b34979e822719eb0b2 announces Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:36Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"e40895b9c1f101b34979e822719eb0b2:chatter"} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:37Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 1 writers and 1 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:37Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 1 pubs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000603 config-zenoh-peer-ros2dds-1 | 1 subs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000704 config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:37Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:37Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:38Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:38Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:39Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:39Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: UndeclareSubscriber(UndeclareSubscriber { id: 0, ext_wire_expr: WireExprType { wire_expr: 3:Receiver: } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh::net::routing::pubsub] Unregister client subscription chatter for Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) MatchingStatus changed: MatchingStatus { matching: false } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): delete Reader config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: UndeclareSubscriber(UndeclareSubscriber { id: 0, ext_wire_expr: WireExprType { wire_expr: 8:Sender: } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh::net::routing::pubsub] Unregister client subscription @/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{1, e40895b9c1f101b34979e822719eb0b2} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: DELETE on @ros2_lv/e40895b9c1f101b34979e822719eb0b2/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z INFO zenoh_plugin_ros2dds] Remote bridge e40895b9c1f101b34979e822719eb0b2 retires Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 1 writers and 0 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:40Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 1 pubs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000603 config-zenoh-peer-ros2dds-1 | 0 subs: config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:42Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:42Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:43Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:43Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:48Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:50Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:50Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:51Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:51Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 3:Receiver:, ext_info: SubscriberInfo { reliability: Reliable, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh::net::routing::pubsub] Register subscription chatter for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(chatter, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareKeyExpr(DeclareKeyExpr { id: 8, wire_expr: @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) MatchingStatus changed: MatchingStatus { matching: true } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): create Reader with Qos { user_data: Some([116, 121, 112, 101, 104, 97, 115, 104, 61, 82, 73, 72, 83, 48, 49, 95, 100, 102, 54, 54, 56, 99, 55, 52, 48, 52, 56, 50, 98, 98, 100, 52, 56, 102, 98, 51, 57, 100, 55, 54, 97, 55, 48, 100, 102, 100, 52, 98, 100, 53, 57, 100, 98, 49, 50, 56, 56, 48, 50, 49, 55, 52, 51, 53, 48, 51, 50, 53, 57, 101, 57, 52, 56, 102, 54, 98, 49, 97, 49, 56, 59]), topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 7 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh::net::routing::resource] Register resource @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::queries] compute_query_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 8:Sender:, ext_info: SubscriberInfo { reliability: BestEffort, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_m config-zenoh-peer-ros2dds-1 | sgs§msg§String/:1::0,10 for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: PUT on @ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z INFO zenoh_plugin_ros2dds] Remote bridge eeca004478414ebbcb14c8c0ecb28e77 announces Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"eeca004478414ebbcb14c8c0ecb28e77:chatter"} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 1 writers and 1 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:55Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 1 pubs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000603 config-zenoh-peer-ros2dds-1 | 1 subs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000804 config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:56Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:57Z TRACE zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter): routing message - 28 bytes config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:57Z TRACE zenoh::net::routing::pubsub] Route data for res chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: UndeclareSubscriber(UndeclareSubscriber { id: 0, ext_wire_expr: WireExprType { wire_expr: 8:Sender: } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z DEBUG zenoh::net::routing::pubsub] Unregister client subscription @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: DELETE on @ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z INFO zenoh_plugin_ros2dds] Remote bridge eeca004478414ebbcb14c8c0ecb28e77 retires Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z DEBUG zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info' with 1 writers and 0 readers config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:58Z TRACE zenoh_plugin_ros2dds::ros_discovery] Publish update on 'ros_discovery_info': participant 0110409f10233a155cfb3ef2000001c1 : config-zenoh-peer-ros2dds-1 | Node namespace= / name=zenoh_bridge_ros2dds : config-zenoh-peer-ros2dds-1 | 1 pubs: config-zenoh-peer-ros2dds-1 | 0110409f10233a155cfb3ef200000603 config-zenoh-peer-ros2dds-1 | 0 subs: config-zenoh-peer-ros2dds-1 | config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:59Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:26:59Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: DeclareSubscriber(DeclareSubscriber { id: 0, wire_expr: 8:Sender:, ext_info: SubscriberInfo { reliability: BestEffort, mode: Push } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z DEBUG zenoh::net::routing::pubsub] Register client subscription config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z DEBUG zenoh::net::routing::pubsub] Register subscription @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: PUT on @ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z INFO zenoh_plugin_ros2dds] Remote bridge eeca004478414ebbcb14c8c0ecb28e77 announces Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:01Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"eeca004478414ebbcb14c8c0ecb28e77:chatter"} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Send Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) to 224.0.0.224:7446 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Ignore UDP datagram from own socket config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: eeca004478414ebbcb14c8c0ecb28e77, locators: [tcp/192.168.0.105:7447, tcp/172.18.0.1:7447, tcp/172.17.0.1:7447] }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: eeca004478414ebbcb14c8c0ecb28e77 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Received Hello(Hello { version: 8, whatami: Peer, zid: e40895b9c1f101b34979e822719eb0b2, locators: [tcp/192.168.0.101:7447, tcp/172.17.0.1:7447, tcp/172.18.0.1:7447, tcp/192.168.2.5:7447, tcp/192.168.2.9:7447, tcp/192.168.2.13:7447, tcp/192.168.2.17:7447] }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:04Z TRACE zenoh::net::runtime::orchestrator] Already connected scouted peer: e40895b9c1f101b34979e822719eb0b2 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:06Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.101:46575 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:06Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.101:46575 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:07Z TRACE zenoh::net::runtime::orchestrator] Received Scout(Scout { version: 8, what: WhatAmIMatcher(131), zid: None }) from 192.168.0.105:45427 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:07Z TRACE zenoh::net::runtime::orchestrator] Send Hello(Hello { version: 8, whatami: Peer, zid: aea0963f8027abe0003e70d15d2ff5e7, locators: [tcp/192.168.0.70:7447, tcp/172.19.0.1:7447, tcp/172.20.0.1:7447, tcp/172.21.0.1:7447, tcp/172.22.0.1:7447, tcp/172.23.0.1:7447, tcp/172.24.0.1:7447, tcp/172.25.0.1:7447, tcp/172.26.0.1:7447] }) to 192.168.0.105:45427 on interface 192.168.0.70 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z TRACE zenoh::net::routing::router] Recv NetworkMessage { body: Declare(Declare { ext_qos: QoS { priority: Data, congestion: Block, express: false }, ext_tstamp: None, ext_nodeid: NodeIdType { node_id: 0 }, body: UndeclareSubscriber(UndeclareSubscriber { id: 0, ext_wire_expr: WireExprType { wire_expr: 8:Sender: } }) }) } config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z DEBUG zenoh::net::routing::pubsub] Unregister client subscription @/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 for Face{2, eeca004478414ebbcb14c8c0ecb28e77} config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Client) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z TRACE zenoh::net::routing::pubsub] compute_data_route(@/liveliness/@ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10, None, Peer) config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z DEBUG zenoh_plugin_ros2dds] Received liveliness event: DELETE on @ros2_lv/eeca004478414ebbcb14c8c0ecb28e77/MS/chatter/std_msgs§msg§String/:1::0,10 config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z INFO zenoh_plugin_ros2dds] Remote bridge eeca004478414ebbcb14c8c0ecb28e77 retires Subscriber chatter config-zenoh-peer-ros2dds-1 | [2024-03-04T11:27:08Z DEBUG zenoh_plugin_ros2dds::route_publisher] Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {}